TraCIServer.h

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
// TraCI server used to control sumo by a remote TraCI client
/****************************************************************************/
#pragma once
#include <config.h>
 
#include <map>
#include <string>
#include <set>
 
#define BUILD_TCPIP
#include <foreign/tcpip/socket.h>
#include <foreign/tcpip/storage.h>
#include <utils/common/NamedRTree.h>
#include <utils/common/SUMOTime.h>
#include <utils/common/ToString.h>
#include <utils/geom/Boundary.h>
#include <utils/geom/Position.h>
#include <utils/geom/GeomHelper.h>
#include <utils/options/OptionsCont.h>
#include <microsim/MSNet.h>
#include <microsim/traffic_lights/MSTrafficLightLogic.h>
#include <libsumo/TraCIConstants.h>
#include <libsumo/Subscription.h>
#include <libsumo/TraCIDefs.h>
#include "TraCIServerAPI_Lane.h"
 
 
// ===========================================================================
// class definitions
// ===========================================================================
class TraCIServer final : public MSNet::VehicleStateListener, public libsumo::VariableWrapper, public MSNet::TransportableStateListener {
public:
    typedef bool(*CmdExecutor)(TraCIServer& server, tcpip::Storage& inputStorage, tcpip::Storage& outputStorage);
 
    SUMOTime getTargetTime() const {
        return myTargetTime;
    }
 
    static TraCIServer* getInstance() {
        return myInstance;
    }
 
 
    static void openSocket(const std::map<int, CmdExecutor>& execs);
 
 
    static void close();
 
 
    static bool wasClosed();
 
 
    int processCommands(const SUMOTime step, const bool afterMove = false);
 
    void cleanup();
 
 
    void vehicleStateChanged(const SUMOVehicle* const vehicle, MSNet::VehicleState to, const std::string& info = "");
 
    void transportableStateChanged(const MSTransportable* const transportable, MSNet::TransportableState to, const std::string& info = "");
 
 
    void writeStatusCmd(int commandId, int status, const std::string& description, tcpip::Storage& outputStorage);
 
 
    void writeStatusCmd(int commandId, int status, const std::string& description);
 
 
    bool writeErrorStatusCmd(int commandId, const std::string& description, tcpip::Storage& outputStorage);
 
 
 
    const std::map<MSNet::VehicleState, std::vector<std::string> >& getVehicleStateChanges() const {
        if (myCurrentSocket == mySockets.end()) {
            // Requested in context of a subscription update
            return myVehicleStateChanges;
        } else {
            // Requested in the context of a custom query by active client
            return myCurrentSocket->second->vehicleStateChanges;
        }
    }
 
    const std::map<MSNet::TransportableState, std::vector<std::string> >& getTransportableStateChanges() const {
        if (myCurrentSocket == mySockets.end()) {
            // Requested in context of a subscription update
            return myTransportableStateChanges;
        } else {
            // Requested in the context of a custom query by active client
            return myCurrentSocket->second->transportableStateChanges;
        }
    }
 
    void writeResponseWithLength(tcpip::Storage& outputStorage, tcpip::Storage& tempMsg);
 
    void writePositionVector(tcpip::Storage& outputStorage, const libsumo::TraCIPositionVector& shape);
 
 
 
    bool readTypeCheckingInt(tcpip::Storage& inputStorage, int& into);
 
 
    bool readTypeCheckingDouble(tcpip::Storage& inputStorage, double& into);
 
 
    bool readTypeCheckingString(tcpip::Storage& inputStorage, std::string& into);
 
 
    bool readTypeCheckingStringList(tcpip::Storage& inputStorage, std::vector<std::string>& into);
 
 
    bool readTypeCheckingDoubleList(tcpip::Storage& inputStorage, std::vector<double>& into);
 
 
    bool readTypeCheckingColor(tcpip::Storage& inputStorage, libsumo::TraCIColor& into);
 
 
    bool readTypeCheckingPosition2D(tcpip::Storage& inputStorage, libsumo::TraCIPosition& into);
 
 
    bool readTypeCheckingByte(tcpip::Storage& inputStorage, int& into);
 
 
    bool readTypeCheckingUnsignedByte(tcpip::Storage& inputStorage, int& into);
 
 
    bool readTypeCheckingPolygon(tcpip::Storage& inputStorage, PositionVector& into);
 
 
    void stateLoaded(SUMOTime targetTime);
 
    std::vector<std::string>& getLoadArgs() {
        return myLoadArgs;
    }
 
    void initWrapper(const int domainID, const int variable, const std::string& objID);
    bool wrapDouble(const std::string& objID, const int variable, const double value);
    bool wrapInt(const std::string& objID, const int variable, const int value);
    bool wrapString(const std::string& objID, const int variable, const std::string& value);
    bool wrapStringList(const std::string& objID, const int variable, const std::vector<std::string>& value);
    bool wrapDoubleList(const std::string& objID, const int variable, const std::vector<double>& value);
    bool wrapPosition(const std::string& objID, const int variable, const libsumo::TraCIPosition& value);
    bool wrapPositionVector(const std::string& objID, const int variable, const libsumo::TraCIPositionVector& value);
    bool wrapColor(const std::string& objID, const int variable, const libsumo::TraCIColor& value);
    bool wrapStringDoublePair(const std::string& objID, const int variable, const std::pair<std::string, double>& value);
    bool wrapStringPair(const std::string& objID, const int variable, const std::pair<std::string, std::string>& value);
    tcpip::Storage& getWrapperStorage();
 
 
private:
    TraCIServer(const SUMOTime begin, const int port, const int numClients);
 
 
    virtual ~TraCIServer();
 
 
 
    struct SocketInfo {
    public:
        SocketInfo(tcpip::Socket* socket, SUMOTime t)
            : targetTime(t), socket(socket) {}
        ~SocketInfo() {
            delete socket;
        }
        SUMOTime targetTime;
        bool executeMove = false;
        tcpip::Socket* socket;
        std::map<MSNet::VehicleState, std::vector<std::string> > vehicleStateChanges;
        std::map<MSNet::TransportableState, std::vector<std::string> > transportableStateChanges;
    private:
        SocketInfo(const SocketInfo&);
    };
 
 
    bool commandGetVersion();
 
    void postProcessSimulationStep();
 
 
    int readCommandID(int& commandStart, int& commandLength);
 
    int dispatchCommand();
 
    void checkClientOrdering();
 
    void processReorderingRequests();
 
    SUMOTime nextTargetTime() const;
 
    void sendOutputToAll() const;
 
    void sendSingleSimStepResponse();
 
    std::map<int, SocketInfo*>::iterator removeCurrentSocket();
 
 
private:
    static TraCIServer* myInstance;
 
    static bool myDoCloseConnection;
 
    std::map<int, SocketInfo*> mySockets;
 
    std::map<int, SocketInfo*> mySocketReorderRequests;
 
    std::map<int, SocketInfo*>::iterator myCurrentSocket;
 
    SUMOTime myTargetTime;
 
    tcpip::Storage myInputStorage;
 
    tcpip::Storage myOutputStorage;
 
    tcpip::Storage myWrapperStorage;
 
    tcpip::Storage mySubscriptionCache;
 
    std::map<int, CmdExecutor> myExecutors;
 
    std::set<std::pair<int, int>> myParameterized;
 
    std::vector<std::string> myLoadArgs;
 
    std::vector<libsumo::Subscription> mySubscriptions;
 
    libsumo::Subscription* myLastContextSubscription;
 
    std::map<MSNet::VehicleState, std::vector<std::string> > myVehicleStateChanges;
 
    std::map<MSNet::TransportableState, std::vector<std::string> > myTransportableStateChanges;
 
private:
    bool addObjectVariableSubscription(const int commandId, const bool hasContext);
    void initialiseSubscription(libsumo::Subscription& s);
    void removeSubscription(int commandId, const std::string& identity, int domain);
    bool processSingleSubscription(const libsumo::Subscription& s, tcpip::Storage& writeInto,
                                   std::string& errors);
 
 
    bool addSubscriptionFilter();
    void removeFilters();
    void addSubscriptionFilterLanes(std::vector<int> lanes);
    void addSubscriptionFilterNoOpposite();
    void addSubscriptionFilterDownstreamDistance(double dist);
    void addSubscriptionFilterUpstreamDistance(double dist);
    void addSubscriptionFilterLeadFollow();
    // TODO: for libsumo, implement convenience definitions present in python client:
    //    void addSubscriptionFilterCF();
    //    void addSubscriptionFilterLC(int direction);
    void addSubscriptionFilterTurn(double dist);
    void addSubscriptionFilterVClass(SVCPermissions vClasses);
    void addSubscriptionFilterVType(std::set<std::string> vTypes);
    void addSubscriptionFilterFieldOfVision(double openingAngle);
    void addSubscriptionFilterLateralDistance(double dist);
 
    bool centralObject(const libsumo::Subscription& s, const std::string& objID);
 
 
private:
    TraCIServer& operator=(const TraCIServer& s) = delete;
 
};